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Visual place recognition based self-localization for autonomous vehicles

  • US 10,606,274 B2
  • Filed: 10/30/2017
  • Issued: 03/31/2020
  • Est. Priority Date: 10/30/2017
  • Status: Active Grant
First Claim
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1. An autonomous vehicle control system, comprising:

  • a processor in communication with a sensor, the sensor sensing an environment surrounding a vehicle associated with the vehicle control system, wherein a feature vector describes at least a portion of the environment at a current location of the vehicle on a route, the processor being programmed to;

    receive view image information from the sensor comprising the feature vector;

    extract extraneous information from the received view image information, wherein the extraneous information comprises view information other than the feature vector, and wherein extracting the extraneous information isolates the feature vector;

    retrieve feature vector information associated with one or more segments of a route of travel for the vehicle;

    compare the isolated feature vector to the retrieved feature vector information;

    determine if the isolated feature vector and the retrieved feature vector information match; and

    if the isolated feature vector and the retrieved feature vector information match, determine that the current location of the vehicle is at a segment location of the one or more segments associated with the retrieved feature vector information.

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